Bumblebee XB3 Getting Started Manual.indd - CYLOD

LEFT VIEW
Development Kit Contents
First time Bumblebee XB3 users are required to purchase this KIT in addition to the initial
camera:
• 4.5 meter, 9-pin to 9-pin locking IEEE-1394b cable for secure connection
• 4.5 meter, 6-pin to 9-pin locking IEEE-1394a to 1394b cable for secure connection
• IEEE-1394b OHCI PCI Host Adapter 3-port 800Mb/s card
• Hirose HR10 12-pin male GPIO connector pre-wired for easy triggering
• FlyCapture ® SDK and Triclops SDK (C/C++ API and device drivers)
Physical Dimensions
41.8
37.0
38.5
48.5
1.5
1/4-20 UNC 6.0
M3X0.5 - 6H
120.0 120.0
18.5
6.0
FRONT VIEW
STATUS LED
164.5
6.3
TOP VIEW
277.0
66.0
BOTTOM VIEW
200.0
20.0
94.5
12.0
RIGHT VIEW
Specification
Imaging Sensor
Baseline
Lens Focal Length
A/D Converter
Video Data Output
Frame Rates
Interfaces
Camera Specifications
Three Sony ICX445 1/3” progressive scan CCD’s
1280x960 max pixels, 3.75μm square pixels
12 cm and 24 cm
2.5mm with 100° HFOV or 3.8mm with 70° HFOV or 6mm with
50° HFOV
Analog Devices 12-bit analog-to-digital converter
8 and 16-bit digital data (see Supported Data Formats below)
15, 7.5, 3.75, 1.875 FPS
Voltage Requirements 8-30V
Power Consumption Less than 4W
Gain
2x 9-pin IEEE-1394b for camera control and video data transmission
4 general-purpose digital input/output (GPIO) pins.
Automatic/Manual/One-Push Gain modes
0dB to 24dB
0dB to 24dB
Automatic/Manual/One-Push Shutter modes
Shutter
0.01ms to 66.63ms @15 FPS 0.01ms to 66.63ms @15 FPS
Extended Shutter modes
0.01ms to 7900ms @ 15 FPS 0.01ms to 5200ms @ 15 FPS
Trigger Modes DCAM v1.31 Trigger Modes 0, 1, 3, and 14
Signal To Noise Ratio TBD
Dimensions
276 x 36 x 41.8mm
Mass
505 grams
Camera Specification IIDC 1394-based Digital Camera Specifi cation v1.31
Emissions Compliance Complies with CE rules and Part 15 Class A of FCC Rules
Operating Temperature Commercial grade electronics rated from 0° to 45°C
Storage Temperature -30° to 60°C
BACK VIEW
24.6
11.4
1394B CONNECTORS
GPIO CONNECTOR
M3 CASE SCREWS
Spectral Response (QE)
For full sensor datasheets, visit www.ptgrey.com/support/kb/index.asp?a=4&q=23
Status LED
LED Status
Description
Steady on
Camera receiving power and initialized
Steady on and very bright
Camera acquiring and transmitting images
Flashing bright, then brighter
Camera registers being accessed
Steady or slow fl ashing on and off Firmware updated, or possible camera problem (power cycle)
Camera Features
Image Acquisition
Feature
Description
Automatic Synchronization Multiple cameras on the same 1394 bus automatically sync
Fast Frame Rates
Faster standard frame rates
Multiple Trigger Modes Bulb-trigger mode, overlapped trigger/transfer
Embedded Image Info Pixels contain frame-specifi c info (e.g. shutter, 1394 cycle time)
Camera and Device Control
Feature
Description
Frame Rate Control Fine-tune frame rates for video conversion (e.g. PAL @ 24 FPS)
Strobe Output
Increased drive strength, confi gurable strobe pattern output
RS-232 Serial Port
Provides serial communication via GPIO TTL digital logic levels
Memory Channels
Non-volatile storage of camera default power-up settings
Temperature Sensor Reports the temperature near the imaging sensor
Camera Upgrades
Firmware upgradeable in fi eld via IEEE-1394 interface.
Calibration and Mechanics
Feature
Description
Lens System
High quality microlenses protected by removeable glass system
Accurate Pre-Calibration For lens distortions and camera misalignments
Stereo Pair Alignment Left and right images aligned to within 0.05 1 pixel RMS error
Calibration Retention Minimizes loss of calibration due to shock and vibration
Multiple Baselines
Choice of 12 cm or 24 cm baseline for stereo processing
1
Based on epipolar accuracy at a stereo resolution of 320x240; valid for 1024x768 and 640x480 model.
Stereo Image Formats
The Bumblebee XB3 can be confi gured to output images from any set of two sensors, or from all three
sensors, at the same time. This image data is formatted as pixel (byte) interleaved stereo images using
Format_7. Pixel interleaved images use a raw 24bit-per-pixel format. For color cameras, each sensor
represents an RGB color channel, where red is from the right camera, blue from the left and green from
the middle.
Future fi rmware versions may support line (row) interleaved images, where the rows from each of the
cameras are interleaved to speed processing.
Mode Pixel Format Max Size FPS Description
3 RGB8 (24bpp) 1280x960 15
Pixel interleaved stereo image
(8 bits from each imaging sensor)
Single Camera Image Formats
Standard Modes
Frames Per Second (one camera only 1 )
1.875 3.75 7.5 15 30 60
1280x960 Y16 (16bpp) • • •
1280x960 Y8 (8bpp) • • • •
1
Use the PAN control to select the camera that is outputting images
Camera Interface
IEEE-1394 Connector and Cables
The Bumblebee ® XB3 has a standard 9-pin IEEE-1394b connector that is used for data transmission,
camera control and powering the camera. The maximum 1394 cable length between any 1394 node
(e.g. camera to PCI card, card to hub, etc.) is 4.5m, as specifi ed by the IEEE-1394 standard. Use standard,
shielded twisted pair copper cables.
General Purpose I/O Connector
The Bumblebee XB3 has a 12-pin Hirose HR10 (Mfg P/N: HR10A-10R-12SB) female circular connector
on the back of the case. Camera KIT contents include a pre-wired male connector; refer to the diagram
below for wire color-coding. Additional male counterparts (Mfg P/N: HR10A-10P-12P) can be purchased
from Digi-Key (P/N: HR112-ND).
Diagram
Pin
Function
Description
1 IO0 Input / Output (default Trigger_Src)
2 IO1 Input / Output
3 IO2 Input / Output / RS232 Transmit (TX)
4 IO3 Input / Output / RS232 Receive (RX)
5 RTS RS-232 Request to Send
6 CTS RS-232 Clear to Send
7 TX RS-232 Transmit (Output)
8 RX RS-232 Receive (Input)
9, 10 GND
11 VEXT Voltage limit: 8-30V; Current limit: 1A
12 +3.3V Power external circuitry up to a total of 150mA
To confi gure the GPIO pins, consult the “General Purpose Input / Output”
section of the PGR IEEE-1394 Digital Camera Register Reference.
The Bumblebee XB3 GPIO pins are TTL 3.3V pins. Inputs can be confi gured to accept external trigger
signals. When confi gured as inputs, the pins are internally pulled high using weak pull-up resistors
to allow easy triggering of the camera by simply shorting the pin to ground (GND). The inputs are
protected from both over and under voltage. It is recommended, however, that they only be connected
to 5V or 3.3V digital logic signals. Outputs can be confi gured to send an output signal or strobe pulse.
When confi gured as outputs, each line can sink 10mA of current.

1 Installation 2
Installation
1. Recommended System Configuration
• Windows ® XP Service Pack 1
• 512MB of RAM
• Intel ® Pentium 4 2.0GHz or compatible processor
• AGP video card with 128MB video memory
• PCI slot for the IEEE-1394 OHCI card (PCI Express recommended)
• Microsoft ® Visual C++ 6.0 (to compile and run example code)
2. Electrostatic Precautions and Camera Care
• To avoid static discharge that could damage a camera, users should:
o Either handle bare handed or use non-chargeable gloves, clothes
or material. Also use conductive shoes.
o Install a conductive mat on the floor or working table to prevent
the generation of static electricity.
• When handling the camera unit, avoid touching the lenses. To clean the
lenses, use a standard camera lens cleaning kit or a clean dry cotton
cloth. Do not apply excessive force.
• Extended exposure to bright sunlight, rain, dusty environments, etc. may
cause problems with the electronics and the optics of the system.
• Avoid excessive shaking, dropping or mishandling of the device.
3. Install the IEEE-1394 PCI card
• Place the IEEE-1394 PCI card in an open PCI slot.
• Connect the 4-pin connector on the card to the PC power supply.
• Turn the computer back on and log into Windows.
• In most cases, the Windows IEEE-1394 drivers will be automatically
installed for the card, with no user input required. However, in some cases
the Found New Hardware Wizard will appear. Follow the prompts given by
the Wizard to install the card.
• Open Windows Device Manager by going to the Control Panel > System
> Hardware tab > Device Manager. Ensure that the PCI card is properly
installed as an IEEE 1394 Bus host controller.
4. Install the FlyCapture ® and Triclops Software
• Insert the software CD-ROM. If the Installation Wizard does not
automatically run, browse to your CD-ROM directory and run setup.exe.
• Follow the installation instructions to install the software.
IMPORTANT NOTE for Windows XP Users
A dialog will appear prompting you to install the PGR1394b-PRO driver. We
strongly recommend that users do this in order to take full advantage of 1394b
800Mb/s speeds. See this Knowledge Base article for further information:
www.ptgrey.com/support/kb/index.asp?a=4&q=171
3 4
Installation
Installation
5. Connect the 1394 PCI Card and Cable to the Camera
• Plug the 4.5 meter IEEE-1394 cable into the 1394 PCI card and the
camera’s 1394 connector.
NOTE: The camera relies on the 1394 cable to provide power. If using
an interface card other than that provided, ensure that adequate power
is provided.
• If the Microsoft Windows “Found New Hardware Wizard” appears,
proceed to Step 7. Otherwise, proceed to Step 8.
6. Install the Camera Driver
• Click “Install from a list or specifi c location” and click “Next”.
• Select “Don’t search. I will choose the driver to install” and “Next”.
• Click “Have Disk” and browse to C:\Program Files\Point Grey Research\PGR
FlyCapture\driver, click “Open”, then “OK”.
• Select the camera model and click “Next”. You will be prompted to
continue installation - click “Continue Anyway” then “Finish” to complete
installation.
7. Confirm Successful Installation
• Check the Device Manager to confi rm that installation was successful. Go
to the Start menu, select Run and enter “devmgmt.msc”.
8. Test Camera Capabilities
• To test the camera’s image acquisition capabilities, run FlyCap. From the
Start menu, select All Programs > Point Grey Research > PGR FlyCapture >
FlyCap.exe.
• To test stereo processing, run TriclopsDemo. From the Start menu, select
All Programs > Point Grey Research > Triclops SDK > TriclopsDemo.exe.
5 Troubleshooting
Technical references can be found in the Programs > Point Grey Research >
directory. Our on-line Knowledge Base (www.ptgrey.com/support/kb/) also
addresses the following problems:
• Article 21: Troublesome hardware confi gurations
• Article 91: PGR camera not recognized by system and not listed in Device Manager
• Article 93: My laptop’s IEEE-1394 port or PCMCIA card doesn’t supply power to my camera
• Article 145: Image discontinuities or horizontal tearing of images when displayed on monitor
• Article 171: Performance of 1394 devices may decrease after installing Windows XP SP2
• Article 188: Image data acquired by my camera is corrupt and displayed images are broken
• Article 189: Image capture freezes after a period of successful image capture.
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IEEE-1394b Stereo Vision Digital Camera System
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Getting Started
Manual
Document Document revised revised November April 11, 6, 2007 2008
Copyright Copyright © Point © Point Grey Grey Research Research Inc. Inc. 2006. 2006. All All rights rights reserved. reserved.
PGR, PGR, the the Point Point Grey Grey Research, Research, Inc. Inc. logo, logo, Bumblebee Bumblebee and and FlyCapture FlyCapture are are trademarks trademarks of Point of Point Grey Grey Research, Research, Inc. Inc. in Canada in Canada and and other other countries. countries.